Unmanned aerial vehicle

ABSTRACT

A technical object of the present invention is to provide an unmanned aerial vehicle capable of performing a position movement while maintaining posture stabilization. To this end, the unmanned aerial vehicle of the present invention includes: a main body unit; a plurality of propeller motors of which the rotational speed is adjusted by the main body unit; supports which extend from the main body unit in order to support the plurality of propeller motors; propellers which are axially coupled to the plurality of propeller motors and output thrust; and tilting units which tilt rotating shafts of the propellers with respect to the main body unit.

TECHNICAL FIELD

The present invention relates to an unmanned aerial vehicle.

BACKGROUND ART

In general, an unmanned aerial vehicle, which is also called a “drone”,is an unmanned flight vehicle which is in the form of a helicopter andflies without a human pilot aboard while being guided by wireless radiowaves, and the unmanned aerial vehicle has been initially developed formilitary purpose, but recently, the unmanned aerial vehicle is used forvarious purposes such as high-altitude aerial photographing anddelivery.

As illustrated in FIG. 1, the unmanned aerial vehicle includes a mainbody unit 10 which is equipped with a main board or the like forcontrolling a flight operation, a plurality of motors 20 of which therotational speed is adjusted by the main board, support frames 30 whichradially diverge from the main body unit 10 in order to support theplurality of motors 20, and propellers 40 which are coupled to rotatingshafts of the plurality of motors 20, respectively, and output thrust.

For example, the plurality of support frames 30 may include first,second, third, and fourth support frames 31, 32, 33, and 34 which areprovided at intervals along a circumference of the main body unit 10,the plurality of motors 20 may include first, second, third, and fourthmotors 21, 22, 23, and 24 which are provided at end portions of thefirst, second, third, and fourth support frames 31, 32, 33, and 34,respectively, and the plurality of propellers 40 may include first,second, third, and fourth propellers 41, 42, 43, and 44 which arecoupled to rotating shafts of the first, second, third, and fourthmotors 21, 22, 23, and 24, respectively.

Hereinafter, an operation of the unmanned aerial vehicle in the relatedart will be described with reference to FIGS. 1 and 2.

FIG. 2 is a view illustrating a principle of the position movement ofthe unmanned aerial vehicle in the related art.

First, the position movement of the unmanned aerial vehicle in a statein which the unmanned aerial vehicle is in the air will be described. Asillustrated in FIG. 2, thrust (denoted by 53) of the third propeller 43generated by the third motor 23 is adjusted to be higher than thrust(denoted by 51) of the first propeller 41 generated by the first motor21, such that the posture of the unmanned aerial vehicle is tilteddownward (denoted by 60, leftward in FIG. 2) toward the first motor, andthe position of the unmanned aerial vehicle is translationally moved(denoted by 70).

In addition, how to maintain the horizontal posture of the unmannedaerial vehicle in the state in which the unmanned aerial vehicle is inthe air will be described. As illustrated in FIG. 1, the horizontalposture of the unmanned aerial vehicle may be maintained by decreasingthe rotational speed when the unmanned aerial vehicle descends and byincreasing the rotational speed when the unmanned aerial vehicle ascendswhile equally adjusting the rotational speeds of the motors 20.

However, the unmanned aerial vehicle in the related art has thefollowing problems.

There is a problem in that additional undesired rotational motion(pitching, denoted by “60” in FIG. 2) occurs inevitably when theunmanned aerial vehicle translationally moves (denoted by “70” in FIG.2). For example, there is a problem in that in a case in which distancesand heights between the unmanned aerial vehicles positioned in a frontand rear direction, an up and down direction, or a left and rightdirection are adjusted during a group flight when a number of unmannedaerial vehicles fly, there is a risk of collision due to the rotationalmotion (denoted by 60), a long period of time is required for dockingand there is a risk of collision due to the rotational motion (denotedby 60) when allowing the unmanned aerial vehicle to dock with anotherunmanned aerial vehicle in the air, or it is difficult to preciselyoperate the unmanned aerial vehicle and operation time is increased dueto the rotational motion (denoted by 60) caused by the position movementwhen performing various tasks or operations between the air and theground such as aerial photographing.

In addition, there is a problem in that because the posture of theunmanned aerial vehicle is maintained only by controlling the rotationalspeeds of the motor 20, the posture of the unmanned aerial vehiclecannot return to the original posture when disturbance occurs, that is,when external force is applied.

DISCLOSURE Technical Problem

A technical object of the present invention is to provide an unmannedaerial vehicle capable of performing a position movement whilemaintaining posture stabilization.

Another technical object of the present invention is to provide anunmanned aerial vehicle capable of maintaining posture stabilizationeven though external force is applied.

Technical Solution

To achieve the aforementioned objects, the unmanned aerial vehicleaccording to the exemplary embodiment of the present invention includes:a main body unit; a plurality of propeller motors of which therotational speed is adjusted by the main body unit; supports whichextend from the main body unit in order to support the plurality ofpropeller motors; propellers which are axially coupled to the pluralityof propeller motors and output thrust; and tilting units which tiltrotating shafts of the propellers with respect to the main body unit.

A rotation axis of each of the tilting units may be perpendicular to therotating shaft of each of the propellers.

Each of the tilting units may have a single rotation axis or multiplerotation axes.

Each of the tilting units may be provided between each of the supportsand each of the propeller motors.

Each of the supports may have two divided portions, and each of thetilting units may be connected to each of the divided portions.

The main body unit may include: a main body which defines an externalappearance; a communication module which is provided in the main bodyand communicates with an external remote controller; a control modulewhich is provided in the main body and controls the plurality ofpropeller motors; a sensor module which is provided in the main body andincludes a camera; and a battery which is provided in the main body andsupplies electric power to the communication module, the control module,and the sensor module, and the control module may further include a tiltcontrol unit which controls the tilting units.

The unmanned aerial vehicle according to the exemplary embodiment of thepresent invention may further include a horizontality maintaining unitwhich maintains a horizontal posture of the main body unit when theunmanned aerial vehicle is in the air.

The horizontality maintaining unit may include: a flywheel motor whichis provided on the main body unit; and a flywheel which is axiallycoupled to the flywheel motor.

A rotation axis of the flywheel may be perpendicular to an upper surfaceof the main body unit.

Effect

As described above, the unmanned aerial vehicle according to theexemplary embodiments of the present invention may have the followingeffects.

According to the exemplary embodiments of the present invention, thereis provided the technical configuration including tilting units fortilting the rotating shafts of the propellers with respect to the mainbody unit, such that the position movement is enabled by means of thepropellers rotated by the tilting units without tilting the main bodyunit, and as a result, it is possible to move the position of theunmanned aerial vehicle while maintaining posture stabilization of themain body unit. Therefore, for example, it is possible to improvestability against collision of the unmanned aerial vehicle because themain body unit is not tilted in a case in which distances and heightsbetween the unmanned aerial vehicles positioned in a front and reardirection, an up and down direction, or a left and right direction areadjusted during a group flight when a number of unmanned aerial vehiclesfly, it is possible to improve docking accuracy and reduce the timerequired for the docking because the main body unit is not tilted in acase in which the unmanned aerial vehicle docks with another unmannedaerial vehicle in the air, it is possible to improve operation precisionand reduce operation time because the main body unit is not tilted in acase in which various tasks or operations between the air and the groundsuch as aerial photographing are performed, and particularly, it ispossible to improve quality of captured images by reducing geometricdistortion when performing photographing.

In addition, according to the exemplary embodiments of the presentinvention, the horizontality maintaining unit is further included, andas a result, it is possible to maintain the posture stabilization eventhough external force is applied due to disturbance.

DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view schematically illustrating an unmannedaerial vehicle in the related art.

FIG. 2 is a view illustrating a principle of the position movement ofthe unmanned aerial vehicle in FIG. 1.

FIG. 3 is a perspective view schematically illustrating an unmannedaerial vehicle according to an exemplary embodiment of the presentinvention.

FIG. 4 is a cross-sectional view schematically illustrating a main bodyunit of the unmanned aerial vehicle in FIG. 3.

FIG. 5 is a view illustrating an example of a principle of the positionmovement of the unmanned aerial vehicle in FIG. 3.

FIG. 6 is a view illustrating another example of the principle of theposition movement of the unmanned aerial vehicle in FIG. 3.

FIG. 7 is a perspective view schematically illustrating an unmannedaerial vehicle according to another exemplary embodiment of the presentinvention.

FIG. 8 is a perspective view schematically illustrating an unmannedaerial vehicle according to yet another exemplary embodiment of thepresent invention.

FIG. 9 is a perspective view schematically illustrating an unmannedaerial vehicle according to still another exemplary embodiment of thepresent invention.

FIG. 10 is a view illustrating a state in which a maneuvering mode ofthe unmanned aerial vehicle in FIG. 9 is operated.

FIG. 11 is a view illustrating a state in which a posture maintainingmode of the unmanned aerial vehicle in FIG. 9 is operated.

FIG. 12 is a view illustrating a posture stabilization principle of theposture maintaining mode of the unmanned aerial vehicle in FIG. 9.

BEST MODE

Hereinafter, exemplary embodiments of the present invention will bedescribed in detail with reference to the accompanying drawings so thatthose skilled in the technical field to which the present inventionpertains may easily carry out the exemplary embodiment. However, thepresent invention may be implemented in various different ways, and isnot limited to the exemplary embodiments described herein.

FIG. 3 is a perspective view schematically illustrating an unmannedaerial vehicle according to an exemplary embodiment of the presentinvention, and FIG. 4 is a cross-sectional view schematicallyillustrating a main body unit of the unmanned aerial vehicle in FIG. 3.

As illustrated in FIGS. 3 and 4, the unmanned aerial vehicle accordingto the exemplary embodiment of the present invention includes a mainbody unit 110, a plurality of propeller motors 120, a plurality ofsupports 130, a plurality of propellers 140, and a plurality of tiltingunits 150. Hereinafter, the constituent elements will be described indetail still with reference to FIGS. 3 and 4.

As illustrated in FIG. 3, the main body unit 110 is positioned at acenter of the plurality of supports 130 and serves to control theplurality of propeller motors 120 and the plurality of tilting units150. For example, as illustrated in FIG. 4, the main body unit 110 mayinclude a main body 111, a communication module 112, a control module113, a sensor module 114, and a battery 115.

The main body 111 serves to define an external appearance of the mainbody unit 110, the communication module 112 is provided in the main body111 and serves to communicate with an external remote controller (notillustrated) and the like, the control module 113 is provided in themain body 111 and serves to control the plurality of propeller motors120, the sensor module 114 is provided in the main body 111, includes acamera or a GPS, and serves to allow various operations to be performed,and the battery 115 is provided in the main body 111 and serves tosupply electric power to the communication module 112, the controlmodule 113, and the sensor module 114. Further, the control module 113may further include a tilt control unit 113 a which controls the tiltingunits 150.

The rotational speeds of the plurality of propeller motors 120 areadjusted by the control module 113, and the plurality of propellermotors 120 is rotated by being supplied with electric power from thebattery 115 of the main body unit 110 through a harness (notillustrated) or the like. For example, in a case in which the unmannedaerial vehicle is a quadrotor-type unmanned aerial vehicle, theplurality of propeller motors 120 may include first, second, third, andfourth propeller motors 121, 122, 123, and 124, as illustrated in FIG.3. The quadrotor-type unmanned aerial vehicle is described as an examplefor ease of description, and the technology of the present invention maybe applied to all of the tri-rotor-type, penta-rotor-type,hexa-rotor-type, and octo-rotor-type unmanned aerial vehicles.

The supports 130 extend from the main body unit 110 in order to supportthe propeller motors 120. For example, in the case in which the unmannedaerial vehicle is the quadrotor-type unmanned aerial vehicle, theplurality of supports 130 may include first, second, third, and fourthsupports 131, 132, 133, and 134 to support the first, second, third, andfourth propeller motors 121, 122, 123, and 124, as illustrated in FIG.3.

The propellers 140 are axially coupled to the propeller motors 120,respectively, and serve to output thrust. For example, in the case inwhich the unmanned aerial vehicle is the quadrotor-type unmanned aerialvehicle, the plurality of propellers 140 may include first, second,third, and fourth propellers 141, 142, 143, and 144 which are axiallycoupled to the first, second, third, and fourth propeller motors 121,122, 123, and 124, as illustrated in FIG. 3.

The tilting units 150 serve to tilt the rotating shafts 140 a of thepropellers 140 with respect to the main body unit 110, respectively.Although not illustrated, the tilting unit 150 includes a tilt shaft(not illustrated) which defines a rotation axis 150 a of the tiltingunit 150, and a tilt motor (not illustrated) which tilts the rotatingshaft 140 a about the tilt shaft. Further, in the case in which theunmanned aerial vehicle is the quadrotor-type unmanned aerial vehicle,the plurality of tilting units 150 may include first, second, third, andfourth tilting units 151, 152, 153, and 154 which tilt the rotatingshafts 140 a of the first, second, third, and fourth propellers 141,142, 143, and 144, as illustrated in FIG. 3.

In particular, the rotation axis 150 a of each of the tilting units 150may be perpendicular to the rotating shaft 140 a of each of thepropellers 140. That is, the rotation axes 150 a of the first, second,third, and fourth tilting units 151, 152, 153, and 154 may beperpendicular to the rotating shafts 140 a of the first, second, third,and fourth propellers 141, 142, 143, and 144, respectively. In the casein which the rotation axes 150 a of the first, second, third, and fourthtilting units 151, 152, 153, and 154 are set to be perpendicular to therotating shafts 140 a of the first, second, third, and fourth propellers141, 142, 143, and 144, respectively, an algorithm of the control module113 may be simplified.

In addition, as illustrated in FIG. 3, the tilting unit 150 may beprovided between the support 130 and the propeller motor 120. Forexample, the first tilting unit 151 may be provided between the firstsupport 131 and the first propeller motor 121, the second tilting unit152 may be provided between the second support 132 and the secondpropeller motor 122, the third tilting unit 153 may be provided betweenthe third support 133 and the third propeller motor 123, and the fourthtilting unit 154 may be provided between the fourth support 134 and thefourth propeller motor 124.

In addition, the rotation axis 150 a of each of the tilting units 150may be placed perpendicular to a longitudinal direction of each of thesupports 130. Therefore, the rotating shaft 140 a of each of thepropellers 140 may be tilted toward the main body unit 110, or may betilted oppositely in a radial direction of the main body unit 110.

Hereinafter, a principle of moving the unmanned aerial vehicle accordingto the exemplary embodiment of the present invention will be describedwith reference to FIGS. 5 and 6.

FIG. 5 is a view illustrating an example of a principle of the positionmovement of the unmanned aerial vehicle in FIG. 3, and FIG. 6 is a viewillustrating another example of the principle of the position movementof the unmanned aerial vehicle in FIG. 3.

As an example, as illustrated in FIG. 5, when a command of the movementto the left (leftward in FIG. 5) is inputted to the control module 113from the external remote controller (not illustrated) through thecommunication module 112, the first tilting unit 151 is rotated so thatthe rotating shaft 140 a of the first propeller 141 is tilted from aright upper side to a left lower side (based on FIG. 5) through the tiltcontrol unit 113 a of the control module 113, and the first and thirdpropeller motors 121 and 123 are rotated by the control module 113 sothat vertical components VF1 and VF3 of force in accordance with angularvelocities of the first and third propellers 141 and 143 becomesubstantially equal to each other. Therefore, the unmanned aerialvehicle is maintained approximately horizontality as the verticalcomponent VF1 of the force generated by the first propeller 141 issubstantially equal to the vertical component VF3 of the force generatedby the third propeller 143, and the unmanned aerial vehicletranslationally moves (denoted by HF1) to the left (leftward in FIG. 5)by a horizontal component HF1 of the force generated by the firstpropeller 141.

As another example, as illustrated in FIG. 6, when a command of themovement to the left (leftward in FIG. 6) is inputted to the controlmodule 113 from the external remote controller through the communicationmodule 112, the first and third tilting units 151 and 153 are rotated sothat the rotating shafts 140 a of the first and third propellers 141 and143 are tilted from the right upper side to the left lower side (basedon FIG. 6) through the tilt control unit 113 a of the control module113, and the first and third propeller motors 121 and 123 are rotated bythe control module 113 so that the vertical components VF1 and VF3 ofthe force in accordance with the angular velocities of the first andthird propellers 141 and 143 become substantially equal to each other.Therefore, the unmanned aerial vehicle is maintained horizontality asthe vertical component VF1 of the force generated by the first propeller141 is substantially equal to the vertical component VF3 of the forcegenerated by the third propeller 143, and the unmanned aerial vehicletranslationally moves (denoted by HF1 and HF3) to the left (leftward inFIG. 6) by the horizontal components HF1 and HF3 of the force generatedby the first and third propellers 141 and 143.

Hereinafter, an unmanned aerial vehicle according to another exemplaryembodiment of the present invention will be described with reference toFIG. 7.

FIG. 7 is a perspective view schematically illustrating an unmannedaerial vehicle according to another exemplary embodiment of the presentinvention.

As illustrated in FIG. 7, because the unmanned aerial vehicle accordingto another exemplary embodiment of the present invention is identical tothat of the aforementioned exemplary embodiment of the present inventionexcept for tilting units 250, the tilting units 250 will be mainlydescribed hereinafter.

The rotation axis 250 a of each of the tilting units 250 may be placedin a direction identical to the longitudinal direction of the each ofthe supports 130. Therefore, the principle that the unmanned aerialvehicle translationally moves while being maintained horizontality by acombination of the vertical component and the horizontal component ofthe force generated by the propeller 140 is identical to the principledescribed in the aforementioned exemplary embodiment of the presentinvention except that the rotating shaft 140 a of each of the propellers140 is tilted about an axis in the longitudinal direction of each of thesupports 130.

In addition, as illustrated in FIG. 7, the single rotation axis 250 amay be provided at each of the tilting units 250, and although notillustrated, multiple rotation axes 250 a may be provided at each of thetilting units 250.

Hereinafter, an unmanned aerial vehicle according to yet anotherexemplary embodiment of the present invention will be described withreference to FIG. 8.

FIG. 8 is a perspective view schematically illustrating an unmannedaerial vehicle according to yet another exemplary embodiment of thepresent invention.

As illustrated in FIG. 8, because the unmanned aerial vehicle accordingto yet another exemplary embodiment of the present invention isidentical to that of the aforementioned exemplary embodiment of thepresent invention except for supports 330 and tilting units 350, thesupports 330 and the tilting units 350 will be mainly describedhereinafter.

As illustrated in FIG. 8, each of the supports 330 may have two dividedportions 330, and each of the tilting units 350 may be connected to adivided portion 330 a. Therefore, the principle that the unmanned aerialvehicle translationally moves while being maintained horizontality by acombination of the vertical component and the horizontal component ofthe force generated by the propeller 140 is identical to the principledescribed in the aforementioned exemplary embodiment of the presentinvention except that each of the tilting units 350 is provided at thedivided portions 330 a of the each of the supports 330.

Hereinafter, an unmanned aerial vehicle according to still anotherexemplary embodiment of the present invention will be described withreference to FIGS. 9 to 12.

FIG. 9 is a perspective view schematically illustrating an unmannedaerial vehicle according to still another exemplary embodiment of thepresent invention, FIG. 10 is a view illustrating a state in which amaneuvering mode of the unmanned aerial vehicle in FIG. 9 is operated,FIG. 11 is a view illustrating a state in which a posture maintainingmode of the unmanned aerial vehicle in FIG. 9 is operated, and FIG. 12is a view illustrating a posture stabilization principle of the posturemaintaining mode of the unmanned aerial vehicle in FIG. 9.

As illustrated in FIG. 9, because the unmanned aerial vehicle accordingto still another exemplary embodiment of the present invention isidentical to that of the aforementioned exemplary embodiment of thepresent invention except that the main body unit 110 further has ahorizontality maintaining unit 160, the horizontality maintaining unit160 will be mainly described.

The horizontality maintaining unit 160 serves to maintain the horizontalposture of the main body unit 110 even though external force is applieddue to disturbance in a state in which the unmanned aerial vehicle is inthe air. For example, as illustrated in FIG. 9, the horizontalitymaintaining unit 160 may include a flywheel motor 161 and a flywheel 162in order to generate momentum.

The flywheel motor 161 may be provided on an upper surface or a lowersurface of the main body 111, and the flywheel 162 may be axiallycoupled to the flywheel motor 161 and rotated by the flywheel motor 161.Further, a rotation axis of the flywheel 162 may be perpendicular to theupper surface of the main body 111.

Hereinafter, a posture stabilization principle of the horizontalitymaintaining unit 160 will be described with reference to FIGS. 10 to 12.

In a maneuvering mode in which the unmanned aerial vehicle is moved, therotation of the flywheel 162 is stopped as illustrated in FIG. 10.Therefore, momentum by the flywheel 162 is not generated, and as aresult, the unmanned aerial vehicle may be moved by using thrust of thepropellers 140.

In a station keeping mode, momentum (denoted by 90) is generated byrotating the flywheel 162 at a high speed, as illustrated in FIG. 11. Inthis case, as illustrated in FIG. 12, in a case in which the posture ofthe unmanned aerial vehicle is disturbed (denoted by 91) as externalforce (Y-axis) is generated, torque (denoted by 92) is generated by aprinciple of gyroscopic force, and a change in posture (X-axis)generated accordingly is coupled to the momentum (denoted by 90),thereby generating gyroscopic force (denoted by 93) that restores theinitially disturbed posture (denoted by 91), and as a result, it ispossible to stably maintain the posture. This principle is the sameprinciple when a top maintains the posture by generating restoring forcewith respect to external force.

As described above, the unmanned aerial vehicle according to theexemplary embodiments of the present invention may have the followingeffects.

According to the exemplary embodiments of the present invention, thereis provided the technical configuration including tilting units 150,250, and 350 for tilting the rotating shafts 140 a of the propellers 140with respect to the main body unit 110, such that the position movementis enabled by means of the propellers 140 rotated by the tilting units150, 250, and 350 without tilting the main body unit 110, and as aresult, it is possible to move the position of the unmanned aerialvehicle while maintaining posture stabilization of the main body unit110.

Therefore, for example, it is possible to improve stability againstcollision of the unmanned aerial vehicle because the main body unit isnot tilted in a case in which distances and heights between the unmannedaerial vehicles positioned in a front and rear direction, an up and downdirection, or a left and right direction are adjusted during a groupflight when a number of unmanned aerial vehicles fly, it is possible toimprove docking accuracy and reduce the time required for the dockingbecause the main body unit is not tilted in a case in which the unmannedaerial vehicle docks with another unmanned aerial vehicle in the air, itis possible to improve operation precision and reduce operation timebecause the main body unit is not tilted in a case in which varioustasks or operations between the air and the ground such as aerialphotographing are performed, and particularly, it is possible to improvequality of captured images by reducing geometric distortion whenperforming photographing.

In addition, according to the exemplary embodiments of the presentinvention, the horizontality maintaining unit 160 is further included,and as a result, it is possible to maintain the posture stabilizationeven though external force is applied due to disturbance.

Although preferred examples of the present invention have been describedin detail hereinabove, the right scope of the present invention is notlimited thereto, and it should be clearly understood that manyvariations and modifications of those skilled in the art using the basicconcept of the present invention, which is defined in the followingclaims, will also belong to the right scope of the present invention.

INDUSTRIAL APPLICABILITY

The present invention has industrial applicability because the unmannedaerial vehicle of the present invention may be used for militarypurposes, high-altitude aerial photographing, delivery, and the like.

The invention claimed is:
 1. An unmanned aerial vehicle comprising: amain body unit; a plurality of propeller motors of which the rotationalspeed is adjusted by the main body unit; supports which extend from themain body unit in order to support the plurality of propeller motors;propellers which are axially coupled to the plurality of propellermotors and output thrust; and tilting units which tilt rotating shaftsof the propellers with respect to the main body unit, wherein the mainbody unit includes a main body which defines an external appearance; acommunication module which is provided in the main body and communicateswith an external remote controller; and a control module which isprovided in the main body and controls the plurality of propellermotors, the control module further includes a tilt control unit whichcontrols the tilting units, wherein the main body unit further includesa horizontality maintaining unit which maintains a horizontal posture ofthe main body unit when the unmanned aerial vehicle is in the air,wherein the horizontality maintaining unit includes a flywheel motorwhich is provided on the main body unit; and a flywheel which is axiallycoupled to the flywheel motor, wherein in response to detection of asignal, transmitted via the communication module, to move the unmannedaerial vehicle to a certain direction, the control module stops theflywheel motor and rotates the tilting units to tilt one of the tiltrotating shafts of one of the propellers with respect to the main bodyunit, and wherein in response to detection of a signal to stop theunmanned aerial vehicle, the control module operates the flywheel motorto maintain the unmanned aerial vehicle in a horizontal direction. 2.The unmanned aerial vehicle of claim 1, wherein a rotation axis of eachof the tilting units is perpendicular to the rotating shaft of each ofthe propellers.
 3. The unmanned aerial vehicle of claim 1, wherein eachof the tilting units has a single rotation axis or multiple rotationaxes.
 4. The unmanned aerial vehicle of claim 1, wherein each of thetilting units is provided between each of the supports and each of thepropeller motors.
 5. The unmanned aerial vehicle of claim 1, whereineach of the supports has two divided portions, and each of the tiltingunits is connected to each of the divided portions.
 6. The unmannedaerial vehicle of claim 1, wherein the main body unit includes: a sensormodule which is provided in the main body and includes a camera; and abattery which is provided in the main body and supplies electric powerto the communication module, the control module, and the sensor module.7. The unmanned aerial vehicle of claim 1, wherein a rotation axis ofthe flywheel is perpendicular to an upper surface of the main body unit.